Kuka KUKA.EthernetKRL 2.2, Manual

Page: 10 / 79

10 / 79
Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
KUKA.EthernetKRL 2.2
2.2.2 Monitoring a connection
Description
A connection can be monitored by a ping on the external system (<ALIVE…/
> element in the connection configuration).
A flag or output can be set in the event of a successful connection, depending
on the configuration. The output or flag is set as long as the ping is regularly
sent and the connection to the external system is active. The output or flag is
deleted if the connection to the external system is aborted.
2.3 Data exchange
Overview
The robot controller can receive data from an external system as well as send
data to an external system via EthernetKRL.
Data reception
Basic sequence (marked in red) ( >>> Fig. 2-1 ):
1. The external system sends data which are transmitted via a protocol and
received by the EKI.
2. The data are stored in a structured manner in a data memory.
3. The data are accessed from a KRL program in a structured manner. KRL
instructions are used to read the data and copy them into KRL variables.
Data trans-
mission
Basic sequence (marked in green) ( >>> Fig. 2-1 ):
1. KRL instructions are used to write the data in a data memory in a struc-
tured manner.
2. A KRL instruction is used to read the data out of the memory.
3. EKI sends the data to the external system via a protocol.
2.4 Saving data
Description
All data received are automatically saved and, in this way, are available to
KRL. XML and binary data are treated differently when saving them.
Fig. 2-1: System overview
It is possible to send data directly without first storing the data in a
memory.